A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information

Safaei, Ali; Mahyuddin, Muhammad Nasiruddin

doi:10.1080/00207721.2018.1542755

Cited by 5 publications

(3 citation statements)

References 47 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Lemma 1 [36]- [40]: Under Assumption 1, the matrix L G  is symmetric and positive definite. Lemma 3 [42]: The Cauchy-Schwartz inequality states that the absolute value of the vector dot product is always less than or equal to the product of the vector norms…”

Section: Assumptionmentioning

confidence: 99%

Distributed Adaptive Cooperative Control With Fault Compensation Mechanism for Heterogeneous Multi-Robot System

Subha

Mahyuddin

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

In this paper, a distributed adaptive consensus law with fault compensation for a heterogeneous multi-robot system (MRS) is proposed. The design paradigm adopted in this work involves a leader-following cooperative algorithm featuring two distinct adaptive coupling gains to compensate for multiple additive time-varying faults. Exacerbating the situation, the follower robots commissioned in the leader-following mission are non-identical due to their dynamic characteristic as normally exist in a physical setup. The capability of the proposed scheme is investigated and compared with the other two recent works in two facets; one is to gauge how the algorithm is able to mitigate faults of varying nature in the presence of heterogeneous robot(s) while maintaining the platoon formation during the leader-following task; two is the ability to cope with subsequent topology reconfiguration. The stability and the robustness of the proposed scheme against bounded time-varying faults are proven using rigorous Lyapunov analysis. The proposed control strategy exempts the use of an observer or estimator, thereby simplifies the synthesis and implementation on mobile robots. The simulation results of the proposed adaptive consensus law demonstrate the best performance as compared to the other two recent works in the presence of multiple faulty robots.

show abstract

Section: Assumptionmentioning

confidence: 99%

Distributed Adaptive Cooperative Control With Fault Compensation Mechanism for Heterogeneous Multi-Robot System

Subha

Mahyuddin

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…Researchers have also studied control systems in unstable conditions. Safaei et al [7] proposed a solution to the nonlinear subject network formation tracking problem with completely unknown dynamics and unknown perturbations. In contrast, Jin et al [8] have enhanced the traditional controller based on PID.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot

Dong,

Li,

et al. 2023

sv-jme

View full text Add to dashboard Cite

To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.

show abstract

“…For a class of multi‐agent system with completely unknown dynamics for formation tracking, 13 proposed that instead of requiring local information about each agent, a set of co‐observers were designed to estimate the state information of agent at the virtual leader, and instead of requiring knowledge of the reference trajectory, the formation information was estimated based on the system topology. In Reference 14, co‐observers were combined with decentralized adaptive model‐free control strategy to provide a formation tracking solution that not require relative position information between agents. The approaches described above reduced the number of sensors required while also significantly lowering the cost.…”

Section: Introductionmentioning

confidence: 99%

Adaptive time‐varying formation control for teleoperation system: A finite‐time approach

2022

Adaptive Control & Signal

View full text Add to dashboard Cite

In this article, the finite-time formation control scheme is put forward for teleoperation system with time delay. First, a group of finite-time observers are established to address the teleoperation system with time-varying delay issue and via linearly parameterize to deal with the uncertainty in the system. The theory of self-stable domain (SSR) is then applied to provide sufficient circumstances for the observers error dynamics to converge in finite-time. Then, in line with the estimation of time delay derivatives to reconstruct the regression matrix as well as the adaptive law, the observer based time-varying formation control protocol is drawn up. On the basis of finite-time state-independent input-to-output practical stable (FTSIIOpS) theorem, sufficient conditions for teleoperation implement time-varying formation are developed. Finally, simulation is being used to validate the efficiency of the proposed strategy. K E Y W O R D Sfinite-time control, teleoperation system, time delay observer, time-varying formation INTRODUCTIONWith the advancement of automation and robotics, teleoperation system can extend the ability of human operators to work in remote, unstructured, and dangerous environments, with applications in vast areas such as nuclear exploration, medico-surgery, subsea exploration, and military operations. 1 Teleoperation system consists of master-slave robots linked 750

show abstract

A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information

Cited by 5 publications

References 47 publications

Distributed Adaptive Cooperative Control With Fault Compensation Mechanism for Heterogeneous Multi-Robot System

Distributed Adaptive Cooperative Control With Fault Compensation Mechanism for Heterogeneous Multi-Robot System

Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot

Adaptive time‐varying formation control for teleoperation system: A finite‐time approach

Contact Info

Product

Resources

About